From 9d98a0da0bb96424be364b1c9d9a9e30eba26b12 Mon Sep 17 00:00:00 2001
From: PleiadesTX2 <dummy@pleiadesrobotics.com>
Date: Tue, 10 Dec 2019 11:10:48 -0400
Subject: [PATCH] Adding Gstreamer piplines

---
 calibration-left.yaml  |  2 +-
 calibration-right.yaml |  2 +-
 cameras-manual.launch  | 11 ++++++++---
 gstreamer_pipelines    |  7 +++++++
 4 files changed, 17 insertions(+), 5 deletions(-)
 create mode 100644 gstreamer_pipelines

diff --git a/calibration-left.yaml b/calibration-left.yaml
index bd32967..1d0b450 100644
--- a/calibration-left.yaml
+++ b/calibration-left.yaml
@@ -1,6 +1,6 @@
 image_width: 1280
 image_height: 720
-camera_name: narrow_stereo/left
+camera_name: left
 camera_matrix:
   rows: 3
   cols: 3
diff --git a/calibration-right.yaml b/calibration-right.yaml
index d19ea74..60a83bf 100644
--- a/calibration-right.yaml
+++ b/calibration-right.yaml
@@ -1,6 +1,6 @@
 image_width: 1280
 image_height: 720
-camera_name: narrow_stereo/right
+camera_name: right
 camera_matrix:
   rows: 3
   cols: 3
diff --git a/cameras-manual.launch b/cameras-manual.launch
index 6e4d227..db04f2e 100644
--- a/cameras-manual.launch
+++ b/cameras-manual.launch
@@ -12,7 +12,7 @@
   <param name="target_fps" type="int" value="$(arg fps)" />
 
   <group ns="stereo">
-    <node name="right" pkg="gscam" type="gscam" >
+    <node name="right" pkg="gscam" type="gscam" output='screen' >
       <param name="camera_name" value="right" />
       <param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
       <param name="camera_id" value="0" />
@@ -27,7 +27,7 @@
       <remap from="set_camera_info" to="camera_info" />
     </node>
 
-    <node name="left" pkg="gscam" type="gscam" >
+    <node name="left" pkg="gscam" type="gscam" output='screen' >
       <param name="camera_name" value="left" />
       <param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
       <param name="frame_id" value="left_link" />
@@ -41,7 +41,12 @@
       <remap from="/set_camera_info" to="/left/set_camera_info" />
     </node>
 
-    <node name="both" pkg="stereo_image_proc" type="stereo_image_proc" />
+    <!--<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" output="screen" >
+	<param name="stereo" value="stereo"/>
+	<param name="image" value="image_rect"/>
+	<param name="_approximate_sync" value="true"/>
+	<param name="queue_size" value="10000"/>
+    </node>-->
 
   </group>
 
diff --git a/gstreamer_pipelines b/gstreamer_pipelines
new file mode 100644
index 0000000..df32d02
--- /dev/null
+++ b/gstreamer_pipelines
@@ -0,0 +1,7 @@
+
+#Pipelines for various tasks
+
+#Pipeline for recording in an mp4 video file
+#Source https://developer.ridgerun.com/wiki/index.php?title=Gstreamer_pipelines_for_Jetson_TX2 
+gst-launch-1.0 -e nvcamerasrc fpsRange="30.0 30.0" ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), format=(string)I420' ! omxvp8enc bitrate=8000000 ! qtmux ! filesink location=test.mp4 -e
+